Multi-lane road section detection method, device, equipment and medium

Abstract

The invention provides a multi-lane road section detection method and device, equipment and a medium, and the method comprises the steps: carrying out the multi-period monitoring of a target road section, and obtaining the vehicle passing data of a first lane and a second lane in each period; and for any lane, determining the number of delayed passing vehicles of the lane in each period according to the passing vehicle data and the lane distance of the lane in each period. The number of the delayed passing vehicles represents the number of the vehicles which have the behavior of waiting for the traffic lights for multiple times in the lane; and if the delayed vehicle passing numbers of the first lane in the specified number of continuous periods are all smaller than a first threshold value and the delayed vehicle passing numbers of the second lane in the specified number of continuous periods are all not smaller than a second threshold value, outputting prompt information for rebuilding the first lane into the second lane. Through the process, the steering direction of each lane in the road section can be reasonably set on the premise that the road section is not expanded.

Description

Technical Field

[0001] The present application relates to the field of traffic management technology, and in particular to a method, device, equipment and medium for detecting a multi-lane road section. Background Art

[0002] With the continuous advancement of urbanization and the rapid increase in urban population density and vehicle ownership, traffic congestion often occurs, seriously affecting the construction of smart cities.

[0003] Urban traffic congestion often occurs at intersections with multiple turn lanes. Whether the lane turn signs in such multi-lane sections are set reasonably is an important factor affecting traffic congestion. In actual traffic congestion scenarios, it is common to encounter a serious imbalance in the number of vehicles with different turning directions waiting for traffic lights at intersections. For example, in a multi-lane section, vehicles in the left-turn lane are unimpeded, while vehicles in the straight lane are moving slowly, and vehicles entering the new lane need to wait for multiple traffic lights before leaving the lane.

[0004] This is due to the unreasonable setting of the turning directions of the lanes in the road section, which in turn causes the lanes in some turning directions to be unable to meet the actual driving needs. In view of this, how to reasonably set the turning directions of the lanes in the road section without expanding the road section is an urgent problem to be solved. Summary of the invention

[0005] The embodiments of the present application provide a multi-lane road section detection method, device, equipment and medium for reasonably setting the turning direction of each lane in the road section without expanding the road section.

[0006] To achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a method for detecting a multi-lane road segment, the method comprising:

[0008] In response to the detection instruction, the target road section is monitored for multiple cycles to obtain the vehicle passing data of the first lane and the second lane in each cycle; wherein the lane directions of the first lane and the second lane are different;

[0009] For any lane, the number of delayed vehicles passing the lane in each cycle is determined according to the vehicle passing data and lane distance of the lane in each cycle; wherein any lane is the first lane or the second lane; the lane distance is the shortest distance from the lane to the corresponding exit lane of the lane; the number of delayed vehicles passing represents the number of vehicles that have generated multiple waiting behaviors for traffic lights in the lane;

[0010] If the number of delayed vehicles passing the first lane within a specified number of consecutive cycles is less than a first threshold, and the number of delayed vehicles passing the second lane within the specified number of consecutive cycles is not less than a second threshold, a prompt message indicating that the first lane will be converted into a second lane is output; wherein the second threshold is greater than the first threshold.

[0011] In some possible embodiments, the vehicle passing data of any lane in any cycle includes the driving duration of multiple target vehicles; any target vehicle is a vehicle that leaves the lane in the cycle, and the driving duration of any target vehicle represents the actual time taken for the target vehicle to enter the lane and arrive at the exit lane corresponding to the lane.

[0012] The number of delayed vehicles passing any lane in any cycle is determined in the following way:

[0013] Determine the unobstructed time of the lane in the cycle according to the average speed of vehicles traveling on the lane in the cycle and the lane distance; wherein, if the driving time of the target vehicle is less than the unobstructed time, it indicates that the target vehicle does not generate the behavior of waiting for the traffic light during the driving in the lane;

[0014] The number of delayed vehicles passing the lane within the cycle is determined based on the driving duration of each target vehicle and the obstacle-free duration.

[0015] In some possible embodiments, determining the number of delayed vehicles passing the lane within the cycle based on the driving duration of each target vehicle and the obstacle-free duration includes:

[0016] Determining a time threshold according to the barrier-free time duration and the cycle duration of the cycle;

[0017] According to the number of target vehicles whose driving time is longer than the time threshold, the number of delayed vehicles passing the lane in the cycle is determined.

[0018] In some possible embodiments, the barrier-free duration is determined by the following formula:

[0019]

[0020] Among them, t stop is the obstacle-free time; L is the lane distance; v1 is the average vehicle speed; a represents the braking acceleration of the vehicle, v2 represents the speed of the vehicle at rest, and t0 represents the time error when the vehicle is at rest; a, v2 and t0 are all preset values.

[0021] In some possible embodiments, before outputting prompt information indicating that the first lane is converted into a second lane, the method further includes:

[0022] Determine that the lane saturation of the first lane in each period in which the number of delayed passing vehicles is less than the first threshold is not greater than a third threshold, and that the lane saturation of the second lane in each period in which the number of delayed passing vehicles is not less than the second threshold is not less than a fourth threshold; the fourth threshold is greater than the third threshold;

[0023] Among them, the lane saturation of any lane in any cycle is determined based on the ratio of the actual number of vehicles passing the lane in the cycle to the preset number of vehicles passing the lane; the preset number of vehicles passing is determined based on the actual number of vehicles passing the lane in multiple cycles.

[0024] In some possible embodiments, before outputting prompt information indicating that the first lane is converted into a second lane, the method further includes:

[0025] Determining that the target road section includes a plurality of first lanes;

[0026] The method further includes, if the target road section includes a first lane, outputting prompt information indicating that the second lane cannot meet driving requirements.

[0027] In some possible embodiments, before outputting prompt information indicating that a preset number of first lanes are converted into second lanes, the method further includes:

[0028] Determine the number of exit lanes corresponding to the second lane, which is not less than the number of the second lanes plus one;

[0029] The method further includes, if the target road section includes a first lane, outputting prompt information indicating that the second lane cannot meet driving requirements.

[0030] In some possible embodiments, each cycle for monitoring the first lane is a signal change cycle of the traffic light at the exit lane corresponding to the first lane; and / or, each cycle for monitoring the second lane is a signal change cycle of the traffic light at the exit lane corresponding to the second lane.

[0031] In a second aspect, an embodiment of the present application further provides a multi-lane road segment detection device, the device comprising:

[0032] The data acquisition unit is configured to execute: in response to the detection instruction, perform multi-cycle monitoring on the target road section to obtain the vehicle passing data of the first lane and the second lane in each cycle; wherein the lane directions of the first lane and the second lane are different;

[0033] The vehicle passing number unit is configured to execute: for any lane, determine the delayed vehicle passing number of the lane in each cycle according to the vehicle passing data and lane distance of the lane in each cycle; wherein any lane is the first lane or the second lane; the lane distance is the shortest distance from the lane to the exit lane corresponding to the lane; the delayed vehicle passing number represents the number of vehicles that have generated multiple waiting traffic light behaviors in the lane;

[0034] The lane detection unit is configured to execute: if the number of delayed vehicles passing the first lane in a specified number of consecutive cycles is less than a first threshold, and the number of delayed vehicles passing the second lane in the specified number of consecutive cycles is not less than a second threshold, then output a prompt message indicating that the first lane is converted into a second lane; wherein the second threshold is greater than the first threshold.

[0035] In a third aspect, an embodiment of the present application further provides an electronic device, including a data transmission unit and a processor:

[0036] The data transmission unit is configured to: receive a detection indication;

[0037] The processor is configured to: in response to the detection indication, perform multi-cycle monitoring on the target road section to obtain vehicle passing data of the first lane and the second lane in each cycle; wherein the lane directions of the first lane and the second lane are different;

[0038] For any lane, the number of delayed vehicles passing the lane in each cycle is determined according to the vehicle passing data and lane distance of the lane in each cycle; wherein any lane is the first lane or the second lane; the lane distance is the shortest distance from the lane to the corresponding exit lane of the lane; the number of delayed vehicles passing represents the number of vehicles that have generated multiple waiting behaviors for traffic lights in the lane;

[0039] If the number of delayed vehicles passing the first lane within a specified number of consecutive cycles is less than a first threshold, and the number of delayed vehicles passing the second lane within the specified number of consecutive cycles is not less than a second threshold, a prompt message indicating that the first lane will be converted into a second lane is output; wherein the second threshold is greater than the first threshold.

[0040] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements any one of the methods of the first aspect described above.

[0041] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium; when a processor of a computer device reads the computer instructions from the computer-readable storage medium, the processor executes the computer instructions, so that the computer device executes any one of the methods of the first aspect mentioned above.

[0042] In the embodiment of the present application, by performing multi-cycle monitoring on the target road section, the vehicle passing data of the first lane and the second lane in each cycle are obtained; for any lane, the number of delayed vehicles passing the lane in each cycle is determined based on the vehicle passing data of the lane in each cycle and the lane distance. The number of delayed vehicles passing is the number of vehicles that have waited for traffic lights multiple times in the lane; if the number of delayed vehicles passing the first lane in a specified number of consecutive cycles is less than the first threshold, and the number of delayed vehicles passing the second lane in a specified number of consecutive cycles is not less than the second threshold, then a prompt message indicating that the first lane is converted into the second lane is output; the first lane and the second lane both belong to the target road section and have different lane directions.

[0043] In the above process, the number of delayed vehicles passing each lane in a continuous cycle is compared with the threshold value to determine whether each lane can meet the driving demand of the corresponding lane turning direction. When the first lane meets the driving demand and the second lane cannot meet the driving demand, it is recommended to convert the first lane into the second lane to alleviate the problem that the second lane cannot meet the driving demand.

[0044] Other features and advantages of the present application will be described in the subsequent description, and partly become apparent from the description, or be understood by practicing the present disclosure. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of an unreasonable lane turning direction setting provided in an embodiment of the present application;

[0046] Figure 2 An overall flow chart of a multi-lane road segment detection method provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of a lane and a corresponding exit lane provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of driving time and lane distance provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of vehicle passing data of each cycle in the first lane provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of a process for obtaining the number of delayed passing vehicles provided in an embodiment of the present application;

[0051] Figure 7 A schematic diagram of vehicle driving simulation provided in an embodiment of the present application;

[0052] Figure 8 A schematic diagram of delayed vehicle passing determination provided in an embodiment of the present application;

[0053] Fig. 9 A schematic diagram of prompt information provided in an embodiment of the present application;

[0054] Fig.10 A schematic diagram of lane saturation provided in an embodiment of the present application;

[0055] Fig.11 Another schematic diagram of prompt information provided in an embodiment of the present application;

[0056] Fig.12 A schematic diagram of a multi-lane road section detection process provided in an embodiment of the present application;

[0057] Fig.13 A structural diagram of a multi-lane road section detection device provided in an embodiment of the present application;

[0058] Fig.14 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be arbitrarily combined with each other. In addition, although the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in an order different from that here.

[0060] The terms "first" and "second" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "comprising" and any of their variations are intended to cover non-exclusive protection. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. "Multiple" in the present application can mean at least two, for example, two, three or more, and the embodiments of the present application are not limited.

[0061] Before introducing a multi-lane road segment detection method provided by an embodiment of the present application, in order to facilitate understanding, the technical background of the embodiment of the present application is first introduced in detail.

[0062] As mentioned above, in actual traffic congestion scenarios, it is common to encounter a situation where the number of vehicles with different turning directions at an intersection waiting for traffic lights is seriously unequal. Figure 1 As shown in the figure, a road section has both a straight lane and a left-turn lane. Vehicles entering the straight lane need to wait for 2 to 3 signal light cycles on average before leaving the lane, while vehicles entering the left-turn lane do not need to queue up for the signal light. This shows that the driving resources of the straight lane of this road section are insufficient, while the driving resources of the left-turn lane are redundant.

[0063] The above situation is caused by the unreasonable setting of the turning direction of each lane in the road section, which results in the lanes in some turning directions being unable to meet the actual driving needs. In view of this, how to reasonably set the turning direction of each lane in the road section without expanding the road section is an urgent problem to be solved.

[0064] To solve the above problems, the inventive concept of this application is as follows: by performing multi-cycle monitoring on the target road section, the vehicle passing data of the first lane and the second lane in each cycle are obtained; for any lane, the number of delayed vehicles passing the lane in each cycle is determined according to the vehicle passing data of the lane in each cycle and the lane distance. The number of delayed vehicles passing is the number of vehicles that have waited for traffic lights multiple times in the lane; if the number of delayed vehicles passing the first lane in a specified number of consecutive cycles is less than the first threshold, and the number of delayed vehicles passing the second lane in a specified number of consecutive cycles is not less than the second threshold, then a prompt message for converting the first lane into the second lane is output; the first lane and the second lane both belong to the target road section and have different lane directions.

[0065] In the above process, the number of delayed vehicles passing each lane in a continuous cycle is compared with the threshold value to determine whether each lane can meet the driving demand of the corresponding lane turning direction. When the first lane meets the driving demand and the second lane cannot meet the driving demand, it is recommended to convert the first lane into the second lane to alleviate the problem that the second lane cannot meet the driving demand.

[0066] In the above process of the embodiment of the present application, by comparing the number of delayed vehicles passing the first lane and the second lane in a continuous period with a threshold value, it is possible to determine whether the second lane of the target section can meet the driving demand on the premise that it is clear that the first lane itself can meet the driving demand.

[0067] Figure 2 The overall process of a multi-lane road segment detection method provided by the present application is shown as follows: Figure 2 As shown, the following steps are included:

[0068] Step 201: In response to a detection instruction, a target road section is monitored for multiple cycles to obtain vehicle passing data of a first lane and a second lane in each cycle; wherein the first lane and the second lane have different lane directions;

[0069] The target road section in the aforementioned step 201 is a road section having at least two lanes in the turning direction, such as a road section having both a straight-ahead and a left-turn lane, or a road section having both a straight-ahead, a left-turn, and a right-turn lane. In the embodiment of the present application, any lane in the target road section is used as the first lane, and another lane having a different turning direction from the lane is used as the second lane.

[0070] When executing step 201, the number of monitoring cycles can be preset, and the duration of each monitoring cycle is determined according to the traffic lights at the exit lanes corresponding to the lanes to be monitored (ie, the first lane and the second lane mentioned above).

[0071] Specifically, each monitoring cycle of the first lane is the signal change cycle of the traffic light at the exit lane corresponding to the first lane; each monitoring cycle of the second lane is the signal change cycle of the traffic light at the exit lane corresponding to the second lane. Figure 3 The target road section shown contains two straight lanes and one left-turn lane. During implementation, the left-turn lane can be used as the first lane, and any straight lane can be used as the second lane. In addition, any straight lane can be used as the first lane, and the left-turn lane can be used as the second lane. Here, it is only necessary to ensure that any two lanes with different turning directions in the target lane are used as the first lane and the second lane.

[0072] like Figure 3As shown in , the exit lane 1 corresponding to the first lane is located in the adjacent section on the left side of the target section, and the exit lane 2 corresponding to the second lane is located in the adjacent section above the target section. Assuming that the number of monitoring cycles is N, when executing step 201, the vehicles entering the exit lane 1 from the first lane in N consecutive left-turn green light cycles are monitored to obtain the vehicle passing data of the first lane in each left-turn green light cycle. Correspondingly, the vehicles entering the exit lane 2 from the second lane in N consecutive straight green light cycles are monitored to obtain the vehicle passing data of the second lane in each straight green light cycle. It should be understood that a green light cycle is the duration of a green light signal of the traffic light in the lane turning direction.

[0073] Step 202: for any lane, determine the number of delayed vehicles passing the lane in each cycle according to the vehicle passing data and lane distance of the lane in each cycle; wherein any lane is the first lane or the second lane; the lane distance is the shortest distance from the lane to the exit lane corresponding to the lane; the number of delayed vehicles passing represents the number of vehicles that have generated multiple waiting behaviors for traffic lights in the lane;

[0074] In the embodiment of the present application, the vehicle passing data of any lane in any cycle includes the driving time of multiple target vehicles; any target vehicle is a vehicle that leaves the lane in the cycle. The driving time of any target vehicle represents the actual time taken by the target vehicle from entering the lane to arriving at the corresponding exit lane of the lane.

[0075] First, the lane distance and driving time mentioned above are explained. Figure 4 As shown in the figure, the actual time taken by a vehicle to reach the corresponding exit lane of any lane from the lane boundary (i.e., from just entering the lane to just arriving at the corresponding exit lane) is the driving time of the vehicle. The shortest distance from the lane to the corresponding exit lane (approximately the intersection spacing of the intersection) is the lane distance of the lane.

[0076] Next, with the aforementioned Figure 3 Taking the first lane as an example, how to determine the vehicle passing data of the first lane in each cycle is explained. Figure 3 As mentioned in part, the vehicle passing data of the first lane (i.e., the left-turn lane) in each cycle is obtained by monitoring the vehicles that enter the corresponding exit lane from the first lane in each left-turn green light cycle. The above-mentioned target vehicles are the vehicles that enter the corresponding exit lane from the first lane in each cycle.

[0077] Assume that a total of three cycles are monitored. In the first cycle, seven vehicles enter the corresponding exit lane from the first intersection. In the second cycle, nine vehicles enter the corresponding exit lane from the first intersection. In the third cycle, ten vehicles enter the corresponding exit lane from the first intersection. Then the vehicle passing data of the first lane in each cycle can be as follows: Figure 5 As shown, it specifically includes the actual time (i.e., driving time) taken by the corresponding target vehicle from entering the first lane to arriving at the corresponding exit lane in each cycle.

[0078] When obtaining the number of delayed vehicles passing the lane in each cycle through the aforementioned step 202, the specific method may be as follows: Figure 6 As shown, the following steps are included:

[0079] Step 601: Determine the unobstructed time of the lane in any cycle according to the average speed and lane distance of vehicles traveling on the lane in the cycle;

[0080] During implementation, the obstacle-free duration of the lane in any cycle can be determined by the following formula (1):

[0081]

[0082] Among them, t stop is the obstacle-free time; L is the lane distance; v1 is the average vehicle speed; a represents the braking acceleration of the vehicle, v2 represents the speed of the vehicle at rest, and t0 represents the time error when the vehicle is at rest; a, v2 and t0 are all preset values.

[0083] The above average vehicle speed may be determined based on the average speed of all vehicles traveling on the lane during the period, or may be set to a fixed value based on the actual traffic congestion status, which is not limited in the present application.

[0084] The derivation process of the above formula (1) is explained below;

[0085] First, the parameters used in deriving the above formula (1) are explained. In the derivation, except for t shown in the above formula (1), stop In addition to L, v1, a, v2 and t0, the parameter v3 is also included, and v3 represents the speed of the vehicle when it just enters the lane. In the embodiment of the present application, based on the actual road conditions, the speed v3 of the vehicle just entering the lane is set to 30Km / h.

[0086] The above formula (1) simulates the process from the vehicle entering the lane to the corresponding exit lane. The above parameters can be used to deduce the total time it takes for the vehicle to accelerate from the speed v3 of the vehicle entering the lane to the average speed v1 of the vehicle in the lane, then decrease from v1 to the speed v2 representing the vehicle being stationary, and finally accelerate from the speed v2 to v3, that is, t stop .

[0087] Specific as Figure 7 As shown, the speed of the vehicle when it just enters the lane is v3, and then the vehicle will use acceleration a to accelerate to the average speed v1 of the vehicle in the lane. After the vehicle has been driving in the lane at a speed of v1 for a certain period of time, it will wait for the traffic light before reaching the exit lane. In this process, the speed will drop from v1 to v2, which represents the speed when the vehicle is stationary. It should be noted that the speed v2 here does not take a zero value in the embodiment of the present application. The reason is that in actual applications, the vehicle may start early in the last few seconds of waiting for the traffic light, or the vehicle is always in a low-speed travel state while waiting for the traffic light, so v2 can be set to 5Km / h.

[0088] The length of time the vehicle waits for the traffic light is the time error t0 when the vehicle is stationary. When the vehicle stops waiting for the traffic light, it starts to accelerate from the speed v2 to the speed v3 when it reaches the next intersection (i.e., the exit lane of the lane). Therefore, by combining the above parameters, we can get the time t required for the vehicle to enter the lane, wait for a traffic light, and then reach the exit lane. stop Formula (2):

[0089]

[0090] By simplifying the above formula (2), we can get the above formula (1). stop In the embodiment of the present application, it is defined as the barrier-free time length, which indicates the time boundary value during which there is no need to wait for the traffic light from the time the lane enters the lane until the time the lane reaches the exit lane.

[0091] That is, if the driving time of any target vehicle is less than the unobstructed time, it means that the target vehicle does not need to wait for the traffic light from the time it enters the lane to the time it reaches the corresponding exit lane. Conversely, if the driving time of any target vehicle is not less than the unobstructed time, it means that the target vehicle needs to wait for at least one traffic light from the time it enters the lane to the time it reaches the corresponding exit lane.

[0092] Step 602: Determine the number of delayed vehicles passing the lane in each cycle based on the driving time and barrier-free time of each target vehicle.

[0093] The foregoing Figure 1As has been explained in part, a multi-lane road section may have insufficient driving resources in some lanes in the turning direction, while redundant driving resources in some lanes in the turning direction. In addition, as has been explained in the introduction to the invention concept of the present application, the purpose of the present application is to, under the premise that the first lane can meet the driving needs in its own turning direction, and the second lane cannot meet the driving needs in its own turning direction, suggest that the first lane be converted into the second lane to alleviate the problem that the second lane cannot meet the driving needs.

[0094] In some possible embodiments, in the embodiments of the present application, the need to wait for at least two traffic lights will be judged as a lane that cannot meet the driving needs of its own turning direction, and the need not to wait for traffic lights will be judged as a lane that can meet the driving needs of its own turning direction.

[0095] Based on this, when executing the aforementioned step 602, it is necessary to determine the time thresholds corresponding to the first lane and the second lane in each cycle respectively, and then further determine the number of delayed vehicles passing the first lane and the second lane in each cycle based on the time thresholds.

[0096] Next, we will explain how to calculate the number of delayed vehicles passing the first lane and the second lane in each cycle:

[0097] Assuming that the average speed in the above formula (1) is a fixed value set based on the actual business scenario, the barrier-free time of any lane in each cycle is the same. As mentioned above, the embodiment of the present application will not need to wait for the behavior of the traffic light to determine whether the lane driving can meet the driving needs of its own turning direction.

[0098] Then, when calculating the number of delayed vehicles passing the first lane in each cycle, the barrier-free vehicle passing time of the first lane is determined in advance by the above formula (1), and then the barrier-free vehicle passing time is used as the time threshold for judging whether each target vehicle in the first lane has delayed passing. Finally, for the target vehicles in the first lane in any cycle, the number of target vehicles whose driving time in the cycle is greater than the time threshold is taken as the number of delayed vehicles passing the first lane in the cycle.

[0099] With the aforementioned Figure 5 The vehicle passing data of the first lane in the first cycle is shown as an example. Figure 8 As shown in the figure, assuming that the barrier-free time is 50 seconds, since the driving time of target vehicles 2, 4, and 5 in the first cycle is greater than 50 seconds, the number of delayed vehicles passing the first lane in the first cycle is 3. Here, the number of delayed vehicles passing the first lane in each cycle represents the number of target vehicles waiting for the traffic light in the first lane in each cycle.

[0100] When obtaining the number of delayed vehicles passing the second lane in each cycle, the barrier-free passing time of the second lane is determined in advance by the above formula (1), and then the time threshold for judging whether each target vehicle in the second lane has delayed passing is determined according to the cycle time of the corresponding cycle of the second lane (i.e., a green light cycle of the traffic light in the turning direction of the second lane) and the barrier-free passing time.

[0101] As mentioned above, in the embodiment of the present application, the need to wait for at least two traffic lights is judged as the lane being unable to meet the driving needs of its own turning direction. The barrier-free driving time represents the time boundary value that the vehicle does not need to wait for the traffic light from the time it enters the lane to the time it arrives at the corresponding exit lane.

[0102] Assume that the green light cycle of the traffic light in the turning direction of the second lane is 30 seconds (i.e., the cycle length of one monitoring cycle of the second lane is 30 seconds), and the barrier-free passing time of the second lane is 40 seconds;

[0103] Then, the time threshold corresponding to the second lane is 30×2+40=100s. It should be noted that the number of waiting for traffic lights to determine that the lane cannot meet the driving demand can be determined according to actual business needs, and this application does not limit this. For example, when the behavior of waiting for three traffic lights is determined as insufficient lane driving resources, the time threshold corresponding to the second lane is updated to 30×3+40=130s.

[0104] Next, for the target vehicles in the second lane in any cycle, the number of target vehicles with a driving time greater than the time threshold in the cycle is taken as the number of delayed vehicles passing the second lane in the cycle. Here, the number of delayed vehicles passing the second lane in each cycle represents the number of target vehicles that have waited for at least two traffic lights in the second lane in each cycle.

[0105] In addition, the behavior of waiting for traffic lights less than 2 times during driving in adjacent lanes can be judged as the lane being able to meet the driving needs of its own turning direction, and the behavior of waiting for traffic lights at least 2 times can be judged as the lane being unable to meet the driving needs of its own turning direction. At this time, the time thresholds of the first lane and the second lane are the sum of the barrier-free time corresponding to the lane and the two monitoring cycle times corresponding to the lane, that is, the number of delayed passing vehicles at this time for either the first lane or the second lane represents the number of vehicles that need to wait for at least 2 traffic lights while driving from the lane to another lane within a monitoring cycle corresponding to the lane.

[0106] Step 203: If the number of delayed vehicles passing the first lane within a specified number of consecutive cycles is less than a first threshold, and the number of delayed vehicles passing the second lane within the specified number of consecutive cycles is not less than a second threshold, output a prompt message indicating that the first lane is converted into a second lane; wherein the second threshold is greater than the first threshold.

[0107] In the embodiment of the present application, the first threshold is set to 1, the second threshold is set to 2, and the specified number of consecutive cycles is 3 consecutive cycles. When executing step 203, if the number of delayed vehicles passing the first lane in 3 consecutive cycles within N monitoring cycles is less than 1, it means that each target vehicle entering the corresponding exit lane from the first lane within the consecutive cycle does not need to wait for the traffic light and can travel unimpeded.

[0108] Correspondingly, if the number of delayed vehicles passing the second lane for three consecutive cycles is ≥ 2 within N monitoring cycles, it means that among the target vehicles that enter the corresponding exit lane from the second lane in consecutive cycles, at least two vehicles in each cycle need to wait for at least two red lights before entering the exit lane.

[0109] When the number of delayed vehicles passing the first lane and the second lane in a continuous cycle meets the above threshold, it means that the driving resources of the first lane are redundant, while the driving resources of the second lane are insufficient. Fig. 9 As shown, the output represents the prompt information for converting the first lane into the second lane. Specifically, it can be explained that the number of times vehicles traveling in the second lane wait for traffic lights is large, which is not conducive to vehicle travel. A first lane can be converted into a second lane so that the second lane can meet the driving needs of the turning direction as much as possible without expanding the road section.

[0110] In some possible embodiments, before outputting prompt information indicating that the first lane is converted into the second lane, the embodiment of the present application also needs to determine that the lane saturation of the first lane in each period in which the number of delayed passing vehicles is less than the first threshold is not greater than the third threshold (≤0.3), and that the lane saturation of the second lane in each period in which the number of delayed passing vehicles is not less than the second threshold is not less than the fourth threshold (≥0.7).

[0111] Among them, the lane saturation of any lane in any cycle is determined based on the ratio of the actual number of vehicles passing through the lane in the cycle and the preset number of vehicles passing through the lane; the preset number of vehicles passing through is determined based on the actual number of vehicles passing through the lane in multiple cycles.

[0112] Next, the aforementioned Figure 5 Taking the first lane passing data shown in FIG. 1 as an example, the calculation process of lane saturation is described as follows. Fig.10The preset number of vehicles passing the lane above represents the maximum number of vehicles that can theoretically pass through the lane within a green light cycle in the corresponding turning direction, that is, the traffic capacity of the lane. This is a preset value set by referring to the lane speed limit of the lane and the lane distance from the lane to the corresponding exit lane. Figure 5 It can be seen that the target number of vehicles in the first lane in the first cycle is 6. Assuming that the preset number of vehicles passing the first lane is 30, the lane saturation of the first lane in the first cycle is the target number of vehicles in the cycle / the preset number of vehicles passing, that is, 6 / 30=0.2.

[0113] In some possible embodiments, before outputting the prompt information indicating that the first lane is converted into the second lane, it is necessary to determine whether the target road section contains multiple first lanes. That is, if there is only one first lane in the target road section, if this only first lane is converted into the first lane, then the target road section no longer has the capacity to support vehicles in the direction corresponding to the first lane, which is obviously unreasonable. In this case, a prompt information indicating that the second lane cannot meet the driving needs can be output, and a prompt information such as Fig.11 The suggestions shown in the figure may specifically suggest expanding the target road section or adjusting the signal cycle of the traffic lights at the intersection.

[0114] In addition, before outputting the prompt information indicating that the first lane is to be converted into the second lane, it is also necessary to determine that the number of exit lanes corresponding to the second lane is not less than the number of second lanes plus one. The reason for this is that if the number of second lanes after the conversion exceeds the number of exit lanes originally configured for it, it may cause vehicle congestion on the road section where the exit lanes are located. Therefore, if the number of lanes plus one of the current second lane is greater than the number of exit lanes corresponding to the current second lane, it is not recommended to convert a first lane into a second lane. At this time, the above-mentioned output can be output. Fig.11 The prompt information shown is used to inform relevant personnel.

[0115] To facilitate understanding of the multi-segment detection method provided in the embodiment of the present application, Fig.12 The detection process of the above multi-lane road section is explained, which specifically includes the following steps:

[0116] Step 121: Obtain the vehicle passing data of the first lane and the second lane in each cycle within N monitoring cycles;

[0117] Step 122: for each lane, determine the lane saturation and delayed vehicle passing number of the lane in the cycle according to the vehicle passing data of the lane in each cycle;

[0118] Step 123: Detect whether the lane saturation of the first lane is ≤0.3 and the number of delayed vehicles passing is <1 in three consecutive cycles, and detect whether the lane saturation of the second lane is ≥0.7 and the number of delayed vehicles passing is ≥2 in three consecutive cycles;

[0119] Step 124: If yes, it is determined that the driving resources of the second lane are insufficient and the driving resources of the first lane are redundant; otherwise, the detection process of the target road section is terminated.

[0120] Step 125: Detect whether the target road section includes multiple first lanes, and detect whether the current number of second lanes M1 plus one is not greater than the number of exit lanes M2 corresponding to the second lanes;

[0121] Step 126: If the target road section includes multiple first lanes, and M1+1≤M2, outputting prompt information for converting the first lane into a second lane;

[0122] Step 127: If the target road section only includes a first lane, or M1+1>M2; output a prompt message indicating that the second lane cannot meet the driving demand.

[0123] Therefore, by comparing the number of delayed vehicles passing each lane in a continuous cycle with a threshold value, it can be determined whether each lane can meet the driving demand of the corresponding lane turning direction. And by suggesting that the first lane be converted into the second lane, the problem of the second lane being unable to meet the driving demand can be alleviated.

[0124] Based on the same inventive concept, the present application also provides a multi-lane road section detection device, specifically as follows: Fig.13 As shown, specifically including:

[0125] The data acquisition unit 131 is configured to execute: in response to the detection instruction, perform multi-cycle monitoring on the target road section to obtain the vehicle passing data of the first lane and the second lane in each cycle; wherein the lane directions of the first lane and the second lane are different;

[0126] The vehicle passing number unit 132 is configured to perform: for any lane, determining the delayed vehicle passing number of the lane in each cycle according to the vehicle passing data and lane distance of the lane in each cycle; wherein any lane is the first lane or the second lane; the lane distance is the shortest distance from the lane to the exit lane corresponding to the lane; the delayed vehicle passing number represents the number of vehicles that have generated multiple waiting traffic light behaviors in the lane;

[0127] The lane detection unit 133 is configured to execute: if the number of delayed vehicles passing the first lane in a specified number of consecutive cycles is less than a first threshold, and the number of delayed vehicles passing the second lane in the specified number of consecutive cycles is not less than a second threshold, then output a prompt message indicating that the first lane is converted into a second lane; wherein the second threshold is greater than the first threshold.

[0128] In some possible embodiments, the vehicle passing data of any lane in any cycle includes the driving time of multiple target vehicles; any target vehicle is a vehicle that leaves the lane in the cycle, and the driving time of any target vehicle represents the actual time taken by the target vehicle from entering the lane to arriving at the exit lane corresponding to the lane; the vehicle passing number unit 132 is configured to determine the number of delayed vehicles passing any lane in any cycle in the following manner:

[0129] Determine the unobstructed time of the lane in the cycle according to the average speed of vehicles traveling on the lane in the cycle and the lane distance; wherein, if the driving time of the target vehicle is less than the unobstructed time, it indicates that the target vehicle does not generate the behavior of waiting for the traffic light during the driving in the lane;

[0130] The number of delayed vehicles passing the lane within the cycle is determined based on the driving duration of each target vehicle and the obstacle-free duration.

[0131] In some possible embodiments, the method of determining the number of delayed vehicles passing the lane within the cycle based on the driving duration of each target vehicle and the barrier-free duration is performed, and the vehicle number unit 132 is configured as follows:

[0132] Determining a time threshold according to the barrier-free time duration and the cycle duration of the cycle;

[0133] According to the number of target vehicles whose driving time is longer than the time threshold, the number of delayed vehicles passing the lane in the cycle is determined.

[0134] In some possible embodiments, the vehicle passing quantity unit 132 is configured to determine the barrier-free duration by the following formula:

[0135]

[0136] Among them, t stop is the obstacle-free time; L is the lane distance; v1 is the average vehicle speed; a represents the braking acceleration of the vehicle, v2 represents the speed of the vehicle when it is stationary, and t0 represents the time error when the vehicle is stationary; a, v2 and t0 are all preset values.

[0137] In some possible embodiments, before outputting the prompt information indicating that the first lane is converted into the second lane, the lane detection unit 133 is further configured to:

[0138] Determine that the lane saturation of the first lane in each period in which the number of delayed passing vehicles is less than the first threshold is not greater than a third threshold, and that the lane saturation of the second lane in each period in which the number of delayed passing vehicles is not less than the second threshold is not less than a fourth threshold; the fourth threshold is greater than the third threshold;

[0139] Among them, the lane saturation of any lane in any cycle is determined based on the ratio of the actual number of vehicles passing the lane in the cycle to the preset number of vehicles passing the lane; the preset number of vehicles passing is determined based on the actual number of vehicles passing the lane in multiple cycles.

[0140] In some possible embodiments, before outputting the prompt information indicating that the first lane is converted into the second lane, the lane detection unit 133 is further configured to:

[0141] Determining that the target road section includes a plurality of first lanes;

[0142] The lane detection unit 133 is further configured to: if the target road section includes a first lane, output prompt information indicating that the second lane cannot meet the driving demand.

[0143] In some possible embodiments, before outputting the prompt information indicating that a preset number of first lanes are converted into second lanes, the lane detection unit 133 is further configured to:

[0144] Determine the number of exit lanes corresponding to the second lane, which is not less than the number of the second lanes plus one;

[0145] The lane detection unit 133 is further configured to: if the target road section includes a first lane, output prompt information indicating that the second lane cannot meet the driving demand.

[0146] In some possible embodiments, each cycle for monitoring the first lane is a signal change cycle of the traffic light at the exit lane corresponding to the first lane; and / or, each cycle for monitoring the second lane is a signal change cycle of the traffic light at the exit lane corresponding to the second lane.

[0147] Based on the same inventive concept, the present application embodiment also provides an electronic device, specifically Fig.14 As shown, it includes a data transmission unit 141 and a processor 142:

[0148] The data transmission unit 141 is configured to: receive a detection indication;

[0149] The processor 142 is configured to: in response to the detection indication, perform multi-cycle monitoring on the target road section to obtain the vehicle passing data of the first lane and the second lane in each cycle; wherein the lane directions of the first lane and the second lane are different;

[0150] For any lane, the number of delayed vehicles passing the lane in each cycle is determined according to the vehicle passing data and lane distance of the lane in each cycle; wherein any lane is the first lane or the second lane; the lane distance is the shortest distance from the lane to the corresponding exit lane of the lane; the number of delayed vehicles passing represents the number of vehicles that have generated multiple waiting behaviors for traffic lights in the lane;

[0151] If the number of delayed vehicles passing the first lane within a specified number of consecutive cycles is less than a first threshold, and the number of delayed vehicles passing the second lane within the specified number of consecutive cycles is not less than a second threshold, a prompt message indicating that the first lane will be converted into a second lane is output; wherein the second threshold is greater than the first threshold.

[0152] In some possible embodiments, the vehicle passing data of any lane in any cycle includes the driving time of multiple target vehicles; any target vehicle is a vehicle that leaves the lane in the cycle, and the driving time of any target vehicle represents the actual time taken by the target vehicle from entering the lane to arriving at the exit lane corresponding to the lane;

[0153] The number of delayed vehicles in any lane during any cycle is determined as follows:

[0154] Determine the unobstructed time of the lane in the cycle according to the average speed of vehicles traveling on the lane in the cycle and the lane distance; wherein, if the driving time of the target vehicle is less than the unobstructed time, it indicates that the target vehicle does not generate the behavior of waiting for the traffic light during the driving in the lane;

[0155] The number of delayed vehicles passing the lane within the cycle is determined based on the driving duration of each target vehicle and the obstacle-free duration.

[0156] In some possible embodiments, to perform the step of determining the number of delayed vehicles passing the lane within the cycle based on the driving duration of each target vehicle and the obstacle-free duration, the processor 142 is configured as follows:

[0157] Determining a time threshold according to the barrier-free time duration and the cycle duration of the cycle;

[0158] According to the number of target vehicles whose driving time is longer than the time threshold, the number of delayed vehicles passing the lane in the cycle is determined.

[0159] In some possible embodiments, the barrier-free duration is determined by the following formula:

[0160]

[0161] Among them, t stop is the obstacle-free time; L is the lane distance; v1 is the average vehicle speed; a represents the braking acceleration of the vehicle, v2 represents the speed of the vehicle when it is stationary, and t0 represents the time error when the vehicle is stationary; a, v2 and t0 are all preset values.

[0162] In some possible embodiments, before outputting the prompt information indicating that the first lane is converted into the second lane, the processor 142 is further configured to:

[0163] Determine that the lane saturation of the first lane in each period in which the number of delayed passing vehicles is less than the first threshold is not greater than a third threshold, and that the lane saturation of the second lane in each period in which the number of delayed passing vehicles is not less than the second threshold is not less than a fourth threshold; the fourth threshold is greater than the third threshold;

[0164] Among them, the lane saturation of any lane in any cycle is determined based on the ratio of the actual number of vehicles passing the lane in the cycle to the preset number of vehicles passing the lane; the preset number of vehicles passing is determined based on the actual number of vehicles passing the lane in multiple cycles.

[0165] In some possible embodiments, before outputting the prompt information indicating that the first lane is converted into the second lane, the processor 142 is further configured to:

[0166] Determining that the target road section includes a plurality of first lanes;

[0167] The processor 142 is further configured to: if the target road section includes a first lane, output prompt information indicating that the second lane cannot meet the driving demand.

[0168] In some possible embodiments, before outputting the prompt information indicating that a preset number of first lanes are converted into second lanes, the processor 142 is further configured to:

[0169] Determine the number of exit lanes corresponding to the second lane, which is not less than the number of the second lanes plus one;

[0170] The processor 142 is further configured to: if the target road section includes a first lane, output prompt information indicating that the second lane cannot meet the driving demand.

[0171] In some possible embodiments, each cycle for monitoring the first lane is a signal change cycle of the traffic light at the exit lane corresponding to the first lane; and / or, each cycle for monitoring the second lane is a signal change cycle of the traffic light at the exit lane corresponding to the second lane.

[0172] The embodiment of the present application further provides a computer storage medium, in which computer program instructions are stored. When the instructions are executed on a computer, the computer executes the steps of the above-mentioned traffic signal control method.

[0173] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0174] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor 202 of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor 202 of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0175] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0176] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1A step that specifies a function in one or more boxes.

[0177] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for detecting a multi-lane road section, characterized in that: The method comprises: In response to the detection instruction, the target road section is monitored for multiple cycles to obtain the vehicle passing data of the first lane and the second lane in each cycle; wherein the lane directions of the first lane and the second lane are different; For any lane, the number of delayed vehicles passing the lane in each cycle is determined according to the vehicle passing data and lane distance of the lane in each cycle; wherein any lane is the first lane or the second lane; the lane distance is the shortest distance from the lane to the corresponding exit lane of the lane; the number of delayed vehicles passing represents the number of vehicles that have generated multiple waiting behaviors for traffic lights in the lane; If the number of delayed vehicles passing the first lane within a specified number of consecutive cycles is less than a first threshold, and the number of delayed vehicles passing the second lane within the specified number of consecutive cycles is not less than a second threshold, a prompt message indicating that the first lane will be converted into a second lane is output; wherein the second threshold is greater than the first threshold.

2. The method according to claim 1, characterized in that The vehicle passing data of any lane in any cycle includes the driving time of multiple target vehicles; any target vehicle is a vehicle that leaves the lane in the cycle, and the driving time of any target vehicle represents the actual time taken by the target vehicle from entering the lane to arriving at the exit lane corresponding to the lane; The number of delayed vehicles in any lane during any cycle is determined as follows: Determine the unobstructed time of the lane in the cycle according to the average speed of vehicles traveling on the lane in the cycle and the lane distance; wherein, if the driving time of the target vehicle is less than the unobstructed time, it indicates that the target vehicle does not generate the behavior of waiting for the traffic light during the driving in the lane; The number of delayed vehicles passing the lane within the cycle is determined based on the driving duration of each target vehicle and the obstacle-free duration.

3. The method according to claim 2, characterized in that The determining the number of delayed vehicles passing the lane within the cycle based on the driving duration of each target vehicle and the barrier-free duration includes: Determining a time threshold according to the barrier-free time duration and the cycle duration of the cycle; The number of delayed vehicles passing the lane in the cycle is determined according to the number of target vehicles whose driving duration is longer than the time threshold.

4. The method according to claim 2, characterized in that: The barrier-free time is determined by the following formula: Among them, t stop is the obstacle-free time; L is the lane distance; v1 is the average vehicle speed; a represents the braking acceleration of the vehicle, v2 represents the speed of the vehicle at rest, and t0 represents the time error when the vehicle is at rest; a, v2 and t0 are all preset values.

5. The method according to claim 1, characterized in that Before outputting prompt information indicating that the first lane is converted into a second lane, the method further includes: Determine that the lane saturation of the first lane in each period in which the number of delayed passing vehicles is less than the first threshold is not greater than a third threshold, and that the lane saturation of the second lane in each period in which the number of delayed passing vehicles is not less than the second threshold is not less than a fourth threshold; the fourth threshold is greater than the third threshold; Among them, the lane saturation of any lane in any cycle is determined based on the ratio of the actual number of vehicles passing the lane in the cycle to the preset number of vehicles passing the lane; the preset number of vehicles passing is determined based on the actual number of vehicles passing the lane in multiple cycles.

6. The method according to any one of claims 1 to 5, characterized in that: Before outputting prompt information indicating that the first lane is converted into a second lane, the method further includes: Determining that the target road section includes a plurality of first lanes; The method further includes, if the target road section includes a first lane, outputting prompt information indicating that the second lane cannot meet driving requirements.

7. The method according to claim 6, characterized in that Before outputting prompt information indicating that a preset number of first lanes are converted into second lanes, the method further includes: Determine the number of exit lanes corresponding to the second lane, which is not less than the number of the second lanes plus one; The method further includes, if the target road section includes a first lane, outputting prompt information indicating that the second lane cannot meet driving requirements.

8. The method according to any one of claims 1 to 5, characterized in that: Each cycle of monitoring the first lane is a signal change cycle of the traffic light at the exit lane corresponding to the first lane; and / or each cycle of monitoring the second lane is a signal change cycle of the traffic light at the exit lane corresponding to the second lane.

9. An electronic device, characterized in that: Including data transmission unit and processor: The data transmission unit is configured to: receive a detection indication; The processor is configured to: in response to the detection indication, perform multi-cycle monitoring on the target road section to obtain vehicle passing data of the first lane and the second lane in each cycle; wherein the lane directions of the first lane and the second lane are different; For any lane, the number of delayed vehicles passing the lane in each cycle is determined according to the vehicle passing data and lane distance of the lane in each cycle; wherein any lane is the first lane or the second lane; the lane distance is the shortest distance from the lane to the corresponding exit lane of the lane; the number of delayed vehicles passing represents the number of vehicles that have generated multiple waiting behaviors for traffic lights in the lane; If the number of delayed vehicles passing the first lane within a specified number of consecutive cycles is less than a first threshold, and the number of delayed vehicles passing the second lane within the specified number of consecutive cycles is not less than a second threshold, a prompt message indicating that the first lane will be converted into a second lane is output; wherein the second threshold is greater than the first threshold.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the method according to any one of claims 1 to 8.

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